OpenRaiser/Intern-Atlas huggingface dataset:
Large language model-based task planning for service robots: A review
Venue: arXiv cs.RO 2025
Year: 2025

With the rapid advancement of large language models (LLMs) and robotics, service robots are increasingly becoming an integral part of daily life, offering a wide range of services in complex environments. To deliver these services intelligently and efficiently, robust and accurate task planning capabilities are essential. This paper presents a comprehensive overview of the integration of LLMs into service robotics, with a particular focus on their role in enhancing robotic task planning. First, the development and foundational techniques of LLMs, including pre-training, fine-tuning, retrieval-augmented generation (RAG), and prompt engineering, are reviewed. We then explore the application of LLMs as the cognitive core-`brain'-of service robots, discussing how LLMs contribute to improved autonomy and decision-making. Furthermore, recent advancements in LLM-driven task planning across various input modalities are analyzed, including text, visual, audio, and multimodal inputs. Finally, we summarize key challenges and limitations in current research and propose future directions to advance the task planning capabilities of service robots in complex, unstructured domestic environments. This review aims to serve as a valuable reference for researchers and practitioners in the fields of artificial intelligence and robotics.
How AI Forecasts AI Jobs: Benchmarking LLM Predictions of Labor Market Changes
Venue: arXiv cs.CL 2025
Year: 2025

Artificial intelligence is reshaping labor markets, yet we lack tools to systematically forecast its effects on employment. This paper introduces a benchmark for evaluating how well large language models (LLMs) can anticipate changes in job demand, especially in occupations affected by AI. Existing research has shown that LLMs can extract sentiment, summarize economic reports, and emulate forecaster behavior, but little work has assessed their use for forward-looking labor prediction. Our benchmark combines two complementary datasets: a high-frequency index of sector-level job postings in the United States, and a global dataset of projected occupational changes due to AI adoption. We format these data into forecasting tasks with clear temporal splits, minimizing the risk of information leakage. We then evaluate LLMs using multiple prompting strategies, comparing task-scaffolded, persona-driven, and hybrid approaches across model families. We assess both quantitative accuracy and qualitative consistency over time. Results show that structured task prompts consistently improve forecast stability, while persona prompts offer advantages on short-term trends. However, performance varies significantly across sectors and horizons, highlighting the need for domain-aware prompting and rigorous evaluation protocols. By releasing our benchmark, we aim to support future research on labor forecasting, prompt design, and LLM-based economic reasoning. This work contributes to a growing body of research on how LLMs interact with real-world economic data, and provides a reproducible testbed for studying the limits and opportunities of AI as a forecasting tool in the context of labor markets.
Floating-Point Neural Network Verification at the Software Level
Venue: arXiv cs.SE 2025
Year: 2025

The behaviour of neural network components must be proven correct before deployment in safety-critical systems. Unfortunately, existing neural network verification techniques cannot certify the absence of faults at the software level. In this paper, we show how to specify and verify that neural networks are safe, by explicitly reasoning about their floating-point implementation. In doing so, we construct NeuroCodeBench 2.0, a benchmark comprising 912 neural network verification examples that cover activation functions, common layers, and full neural networks of up to 170K parameters. Our verification suite is written in plain C and is compatible with the format of the International Competition on Software Verification (SV-COMP). Thanks to it, we can conduct the first rigorous evaluation of eight state-of-the-art software verifiers on neural network code. The results show that existing automated verification tools can correctly solve an average of 11% of our benchmark, while producing around 3% incorrect verdicts. At the same time, a historical analysis reveals that the release of our benchmark has already had a significantly positive impact on the latter.
Bid2X: Revealing Dynamics of Bidding Environment in Online Advertising from A Foundation Model Lens
Venue: arXiv cs.AI 2025
Year: 2025

Auto-bidding is crucial in facilitating online advertising by automatically providing bids for advertisers. While previous work has made great efforts to model bidding environments for better ad performance, it has limitations in generalizability across environments since these models are typically tailored for specific bidding scenarios. To this end, we approach the scenario-independent principles through a unified function that estimates the achieved effect under specific bids, such as budget consumption, gross merchandise volume (GMV), page views, etc. Then, we propose a bidding foundation model Bid2X to learn this fundamental function from data in various scenarios. Our Bid2X is built over uniform series embeddings that encode heterogeneous data through tailored embedding methods. To capture complex inter-variable and dynamic temporal dependencies in bidding data, we propose two attention mechanisms separately treating embeddings of different variables and embeddings at different times as attention tokens for representation learning. On top of the learned variable and temporal representations, a variable-aware fusion module is used to perform adaptive bidding outcome prediction. To model the unique bidding data distribution, we devise a zero-inflated projection module to incorporate the estimated non-zero probability into its value prediction, which makes up a joint optimization objective containing classification and regression. The objective is proven to converge to the zero-inflated distribution. Our model has been deployed on the ad platform in Taobao, one of the world's largest e-commerce platforms. Offline evaluation on eight datasets exhibits Bid2X's superiority compared to various baselines and its generality across different scenarios. Bid2X increased GMV by 4.65% and ROI by 2.44% in online A/B tests, paving the way for bidding foundation model in computational advertising.
PrivacyGuard: A Modular Framework for Privacy Auditing in Machine Learning
Venue: arXiv cs.LG 2025
Year: 2025

The increasing deployment of Machine Learning (ML) models in sensitive domains motivates the need for robust, practical privacy assessment tools. PrivacyGuard is a comprehensive tool for empirical differential privacy (DP) analysis, designed to evaluate privacy risks in ML models through state-of-the-art inference attacks and advanced privacy measurement techniques. To this end, PrivacyGuard implements a diverse suite of privacy attack -- including membership inference , extraction, and reconstruction attacks -- enabling both off-the-shelf and highly configurable privacy analyses. Its modular architecture allows for the seamless integration of new attacks, and privacy metrics, supporting rapid adaptation to emerging research advances. We make PrivacyGuard available at https://github.com/facebookresearch/PrivacyGuard.
Omni-Reward: Towards Generalist Omni-Modal Reward Modeling with Free-Form Preferences
Venue: arXiv cs.CL 2025
Year: 2025

Reward models (RMs) play a critical role in aligning AI behaviors with human preferences, yet they face two fundamental challenges: (1) Modality Imbalance, where most RMs are mainly focused on text and image modalities, offering limited support for video, audio, and other modalities; and (2) Preference Rigidity, where training on fixed binary preference pairs fails to capture the complexity and diversity of personalized preferences. To address the above challenges, we propose Omni-Reward, a step toward generalist omni-modal reward modeling with support for free-form preferences, consisting of: (1) Evaluation: We introduce Omni-RewardBench, the first omni-modal RM benchmark with free-form preferences, covering nine tasks across five modalities including text, image, video, audio, and 3D; (2) Data: We construct Omni-RewardData, a multimodal preference dataset comprising 248K general preference pairs and 69K instruction-tuning pairs for training generalist omni-modal RMs; (3) Model: We propose Omni-RewardModel, which includes both discriminative and generative RMs, and achieves strong performance on Omni-RewardBench as well as other widely used reward modeling benchmarks.
BrowseConf: Confidence-Guided Test-Time Scaling for Web Agents
Venue: arXiv cs.CL 2025
Year: 2025

Confidence in LLMs is a useful indicator of model uncertainty and answer reliability. Existing work mainly focused on single-turn scenarios, while research on confidence in complex multi-turn interactions is limited. In this paper, we investigate whether LLM-based search agents have the ability to communicate their own confidence through verbalized confidence scores after long sequences of actions, a significantly more challenging task compared to outputting confidence in a single interaction. Experimenting on open-source agentic models, we first find that models exhibit much higher task accuracy at high confidence while having near-zero accuracy when confidence is low. Based on this observation, we propose Test-Time Scaling (TTS) methods that use confidence scores to determine answer quality, encourage the model to try again until reaching a satisfactory confidence level. Results show that our proposed methods significantly reduce token consumption while demonstrating competitive performance compared to baseline fixed budget TTS methods.
BBOPlace-Bench: Benchmarking Black-Box Optimization for Chip Placement
Venue: arXiv cs.LG 2025
Year: 2025

Chip placement is a vital stage in modern chip design as it has a substantial impact on the subsequent processes and the overall quality of the final chip. The use of black-box optimization (BBO) for chip placement has a history of several decades. However, early efforts were limited by immature problem formulations and inefficient algorithm designs. Recent progress has shown the effectiveness and efficiency of BBO for chip placement, proving its potential to achieve state-of-the-art results. Despite these advancements, the field lacks a unified, BBO-specific benchmark for thoroughly assessing various problem formulations and BBO algorithms. To fill this gap, we propose BBOPlace-Bench, the first benchmark designed specifically for evaluating and developing BBO algorithms for chip placement tasks. It integrates three problem formulations of BBO for chip placement, and offers a modular, decoupled, and flexible framework that enables users to seamlessly implement, test, and compare their own algorithms. BBOPlace-Bench integrates a wide variety of existing BBO algorithms, including simulated annealing (SA), evolutionary algorithms (EAs), and Bayesian optimization (BO). Experimental results show that the problem formulations of mask-guided optimization and hyperparameter optimization exhibit superior performance than the sequence pair problem formulation, while EAs demonstrate better overall performance than SA and BO, especially in high-dimensional search spaces, and also achieve state-of-the-art performance compared to the mainstream chip placement methods. BBOPlace-Bench not only facilitates the development of efficient BBO-driven solutions for chip placement but also broadens the practical application scenarios (which are urgently needed) for the BBO community. The code of BBOPlace-Bench is available at https://github.com/lamda-bbo/BBOPlace-Bench.
Policy-Aware Generative AI for Safe, Auditable Data Access Governance
Venue: arXiv cs.AI 2025
Year: 2025

Enterprises need access decisions that satisfy least privilege, comply with regulations, and remain auditable. We present a policy aware controller that uses a large language model (LLM) to interpret natural language requests against written policies and metadata, not raw data. The system, implemented with Google Gemini~2.0 Flash, executes a six-stage reasoning framework (context interpretation, user validation, data classification, business purpose test, compliance mapping, and risk synthesis) with early hard policy gates and deny by default. It returns APPROVE, DENY, CONDITIONAL together with cited controls and a machine readable rationale. We evaluate on fourteen canonical cases across seven scenario families using a privacy preserving benchmark. Results show Exact Decision Match improving from 10/14 to 13/14 (92.9\%) after applying policy gates, DENY recall rising to 1.00, False Approval Rate on must-deny families dropping to 0, and Functional Appropriateness and Compliance Adherence at 14/14. Expert ratings of rationale quality are high, and median latency is under one minute. These findings indicate that policy constrained LLM reasoning, combined with explicit gates and audit trails, can translate human readable policies into safe, compliant, and traceable machine decisions.
Human-AI Collaborative Uncertainty Quantification
Venue: arXiv cs.AI 2025
Year: 2025

AI predictive systems are increasingly embedded in decision making pipelines, shaping high stakes choices once made solely by humans. Yet robust decisions under uncertainty still rely on capabilities that current AI lacks: domain knowledge not captured by data, long horizon context, and reasoning grounded in the physical world. This gap has motivated growing efforts to design collaborative frameworks that combine the complementary strengths of humans and AI. This work advances this vision by identifying the fundamental principles of Human AI collaboration within uncertainty quantification, a key component of reliable decision making. We introduce Human AI Collaborative Uncertainty Quantification, a framework that formalizes how an AI model can refine a human expert's proposed prediction set with two goals: avoiding counterfactual harm, ensuring the AI does not degrade correct human judgments, and complementarity, enabling recovery of correct outcomes the human missed. At the population level, we show that the optimal collaborative prediction set follows an intuitive two threshold structure over a single score function, extending a classical result in conformal prediction. Building on this insight, we develop practical offline and online calibration algorithms with provable distribution free finite sample guarantees. The online method adapts to distribution shifts, including human behavior evolving through interaction with AI, a phenomenon we call Human to AI Adaptation. Experiments across image classification, regression, and text based medical decision making show that collaborative prediction sets consistently outperform either agent alone, achieving higher coverage and smaller set sizes across various conditions.
Learning to Reason Efficiently with Discounted Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Large reasoning models (LRMs) often consume excessive tokens, inflating computational cost and latency. We challenge the assumption that longer responses improve accuracy. By penalizing reasoning tokens using a discounted reinforcement learning setup (interpretable as a small token cost) and analyzing Blackwell optimality in restricted policy classes, we encourage concise yet accurate reasoning. Experiments confirm our theoretical results that this approach shortens chains of thought while preserving accuracy.
Deductive Chain-of-Thought Augmented Socially-aware Robot Navigation World Model
Venue: arXiv cs.RO 2025
Year: 2025

Social robot navigation increasingly relies on large language models for reasoning, path planning, and enabling movement in dynamic human spaces. However, relying solely on LLMs for planning often leads to unpredictable and unsafe behaviors, especially in dynamic human spaces, due to limited physical grounding and weak logical consistency. In this work, we introduce NaviWM, a socially-aware robot Navigation World Model that augments LLM reasoning with a structured world model and a logic-driven chain-of-thought process. NaviWM consists of two main components: (1) a spatial-temporal world model that captures the positions, velocities, and activities of agents in the environment, and (2) a deductive reasoning module that guides LLMs through a multi-step, logic-based inference process. This integration enables the robot to generate navigation decisions that are both socially compliant and physically safe, under well-defined constraints such as personal space, collision avoidance, and timing. Unlike previous methods based on prompting or fine-tuning, NaviWM encodes social norms as first-order logic, enabling interpretable and verifiable reasoning. Experiments show that NaviWM improves success rates and reduces social violations, particularly in crowded environments. These results demonstrate the benefit of combining formal reasoning with LLMs for robust social navigation. Additional experimental details and demo videos for this work can be found at: https://sites.google.com/view/NaviWM.
How to build a sovereign network? -- A proposal to measure network sovereignty
Venue: arXiv cs.NI 2025
Year: 2025

Network sovereignty is a network operator's ability to reduce the dependency on component manufacturers to minimize the impact of manufacturer failures. Network operators now face new design challenges to increase network sovereignty and avoid vendor lock-in problems because a high dependency on a manufacturer corresponds to low survivability if that manufacturer is unavailable. The main contribution of this work is the proposal of a novel metric to measure network sovereignty, the Cut Set Coloring (CSC) score. Based on the CSC core metric CSC-ILP, our Integer Linear Program formulation is presented to maximize network sovereignty. We compare CSC-ILP's performance with state of the art manufacturer assignment strategies.
Explicit Memory through Online 3D Gaussian Splatting Improves Class-Agnostic Video Segmentation
Venue: arXiv cs.RO 2025
Year: 2025

Remembering where object segments were predicted in the past is useful for improving the accuracy and consistency of class-agnostic video segmentation algorithms. Existing video segmentation algorithms typically use either no object-level memory (e.g. FastSAM) or they use implicit memories in the form of recurrent neural network features (e.g. SAM2). In this paper, we augment both types of segmentation models using an explicit 3D memory and show that the resulting models have more accurate and consistent predictions. For this, we develop an online 3D Gaussian Splatting (3DGS) technique to store predicted object-level segments generated throughout the duration of a video. Based on this 3DGS representation, a set of fusion techniques are developed, named FastSAM-Splat and SAM2-Splat, that use the explicit 3DGS memory to improve their respective foundation models' predictions. Ablation experiments are used to validate the proposed techniques' design and hyperparameter settings. Results from both real-world and simulated benchmarking experiments show that models which use explicit 3D memories result in more accurate and consistent predictions than those which use no memory or only implicit neural network memories. Project Page: https://topipari.com/projects/FastSAM-Splat/
JanusCoder: Towards a Foundational Visual-Programmatic Interface for Code Intelligence
Venue: arXiv cs.AI 2025
Year: 2025

The scope of neural code intelligence is rapidly expanding beyond text-based source code to encompass the rich visual outputs that programs generate. This visual dimension is critical for advanced applications like flexible content generation and precise, program-driven editing of visualizations. However, progress has been impeded by the scarcity of high-quality multimodal code data, a bottleneck stemming from challenges in synthesis and quality assessment. To address these challenges, we make contributions from both a data and modeling perspective. We first introduce a complete synthesis toolkit that leverages reciprocal synergies between data modalities to efficiently produce a large-scale, high-quality corpus spanning from standard charts to complex interactive web UIs and code-driven animations. Leveraging this toolkit, we construct JanusCode-800K, the largest multimodal code corpus to date. This powers the training of our models, JanusCoder and JanusCoderV, which establish a visual-programmatic interface for generating code from textual instructions, visual inputs, or a combination of both. Our unified model is a departure from existing approaches that build specialized models for isolated tasks. Extensive experiments on both text-centric and vision-centric coding tasks demonstrate the superior performance of the JanusCoder series, with our 7B to 14B scale models approaching or even exceeding the performance of commercial models. Furthermore, extensive analysis provides key insights into harmonizing programmatic logic with its visual expression. Our code and checkpoints will are available at https://github.com/InternLM/JanusCoder.
A U-Net and Transformer Pipeline for Multilingual Image Translation
Venue: arXiv cs.LG 2025
Year: 2025

This paper presents an end-to-end multilingual translation pipeline that integrates a custom U-Net for text detection, the Tesseract engine for text recognition, and a from-scratch sequence-to-sequence (Seq2Seq) Transformer for Neural Machine Translation (NMT). Our approach first utilizes a U-Net model, trained on a synthetic dataset , to accurately segment and detect text regions from an image. These detected regions are then processed by Tesseract to extract the source text. This extracted text is fed into a custom Transformer model trained from scratch on a multilingual parallel corpus spanning 5 languages. Unlike systems reliant on monolithic pre-trained models, our architecture emphasizes full customization and adaptability. The system is evaluated on its text detection accuracy, text recognition quality, and translation performance via BLEU scores. The complete pipeline demonstrates promising results, validating the viability of a custom-built system for translating text directly from images.
From Detection to Discovery: A Closed-Loop Approach for Simultaneous and Continuous Medical Knowledge Expansion and Depression Detection on Social Media
Venue: arXiv cs.LG 2025
Year: 2025

Social media user-generated content (UGC) provides real-time, self-reported indicators of mental health conditions such as depression, offering a valuable source for predictive analytics. While prior studies integrate medical knowledge to improve prediction accuracy, they overlook the opportunity to simultaneously expand such knowledge through predictive processes. We develop a Closed-Loop Large Language Model (LLM)-Knowledge Graph framework that integrates prediction and knowledge expansion in an iterative learning cycle. In the knowledge-aware depression detection phase, the LLM jointly performs depression detection and entity extraction, while the knowledge graph represents and weights these entities to refine prediction performance. In the knowledge refinement and expansion phase, new entities, relationships, and entity types extracted by the LLM are incorporated into the knowledge graph under expert supervision, enabling continual knowledge evolution. Using large-scale UGC, the framework enhances both predictive accuracy and medical understanding. Expert evaluations confirmed the discovery of clinically meaningful symptoms, comorbidities, and social triggers complementary to existing literature. We conceptualize and operationalize prediction-through-learning and learning-through-prediction as mutually reinforcing processes, advancing both methodological and theoretical understanding in predictive analytics. The framework demonstrates the co-evolution of computational models and domain knowledge, offering a foundation for adaptive, data-driven knowledge systems applicable to other dynamic risk monitoring contexts.